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<div class="title">data_logger.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024-2025 Humanoid Robot (Shanghai) Co., Ltd.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;data_logger.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;DataLogger::DataLogger(std::string fileNameIn) {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    filePath=fileNameIn;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="keywordtype">size_t</span> lastSlashPos = filePath.find_last_of(<span class="charliteral">&#39;/&#39;</span>);</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    fileFolder=filePath.substr(0, lastSlashPos);</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    fileName=filePath.substr(lastSlashPos + 1);</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    file_handler = quill::file_handler(filePath, <span class="stringliteral">&quot;w&quot;</span>);</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    file_handler-&gt;set_pattern(QUILL_STRING(<span class="stringliteral">&quot;%(message)&quot;</span>)); <span class="comment">// timestamp&#39;s timezone</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    quill::set_default_logger_handler(file_handler);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    dl = quill::create_logger(<span class="stringliteral">&quot;logger&quot;</span>, file_handler);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    quill::start();</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;}</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keywordtype">void</span> DataLogger::addIterm(<span class="keyword">const</span> std::string &amp;name, <span class="keyword">const</span> <span class="keywordtype">int</span> &amp;len) {</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keyword">auto</span> it = std::find(recItemName.begin(), recItemName.end(), name);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">if</span> (it != recItemName.end()) {</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        std::cout &lt;&lt; name&lt;&lt; <span class="stringliteral">&quot; has already been used!!!!!&quot;</span>&lt;&lt; std::endl;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Failed to add rec item.&quot;</span>);</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    }</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    recItemName.push_back(name);</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    recItemLen.push_back(len);</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    recItemStartCol.push_back(colCout);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    recItemEndCol.push_back(colCout+len-1);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    colCout+=len;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keywordtype">void</span> DataLogger::finishItermAdding() {</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    std::string insFileName=fileFolder+<span class="stringliteral">&quot;/matlabReadDataScript.txt&quot;</span>;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    std::ofstream outFile(insFileName);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keywordflow">if</span> (outFile.is_open()) {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        outFile &lt;&lt; <span class="stringliteral">&quot;clear variables; close all&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        outFile &lt;&lt; <span class="stringliteral">&quot;dataRec=load(&#39;&quot;</span> &lt;&lt; fileName &lt;&lt; <span class="stringliteral">&quot;&#39;);&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; recItemName.size(); ++i) {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;            outFile &lt;&lt; recItemName[i] &lt;&lt; <span class="stringliteral">&quot;=dataRec(:,&quot;</span>&lt;&lt;recItemStartCol[i]+1&lt;&lt;<span class="stringliteral">&quot;:&quot;</span>&lt;&lt;recItemEndCol[i]+1&lt;&lt;<span class="stringliteral">&quot;);&quot;</span>&lt;&lt;std::endl;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        }</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        outFile.close();</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        std::cerr &lt;&lt; <span class="stringliteral">&quot;unable to open matlabReadDataScript.txt\n&quot;</span>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    }</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    recValue.resize(colCout,0.0);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    isItemDataIn.resize(recItemName.size(), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keywordtype">void</span> DataLogger::startNewLine() {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    recValue.resize(colCout,0.0);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    isItemDataIn.resize(recItemName.size(), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keywordtype">void</span> DataLogger::recItermData(<span class="keyword">const</span> std::string &amp;name, <span class="keywordtype">double</span> *dataIn) {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">auto</span> it = std::find(recItemName.begin(), recItemName.end(), name);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">if</span> (it == recItemName.end()) {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        std::cout &lt;&lt; name&lt;&lt; <span class="stringliteral">&quot; has not been added!!!!!&quot;</span>&lt;&lt; std::endl;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Failed to rec item.&quot;</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">int</span> curIdx=std::distance(recItemName.begin(), it);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;recItemLen[curIdx];i++)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        recValue[i+recItemStartCol[curIdx]]=dataIn[i];</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    isItemDataIn[curIdx]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keywordtype">void</span> DataLogger::recItermData(<span class="keyword">const</span> std::string &amp;name, <span class="keywordtype">double</span> dataIn) {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">auto</span> it = std::find(recItemName.begin(), recItemName.end(), name);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span> (it == recItemName.end()) {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        std::cout &lt;&lt; name&lt;&lt; <span class="stringliteral">&quot; has not been added!!!!!&quot;</span>&lt;&lt; std::endl;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Failed to rec item.&quot;</span>);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">int</span> curIdx=std::distance(recItemName.begin(), it);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;recItemLen[curIdx];i++)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        recValue[i+recItemStartCol[curIdx]]=dataIn;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    isItemDataIn[curIdx]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;}</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keywordtype">void</span> DataLogger::recItermData(<span class="keyword">const</span> std::string &amp;name, <span class="keyword">const</span> Eigen::VectorXd &amp;dataIn) {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">auto</span> it = std::find(recItemName.begin(), recItemName.end(), name);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordflow">if</span> (it == recItemName.end()) {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        std::cout &lt;&lt; name&lt;&lt; <span class="stringliteral">&quot; has not been added!!!!!&quot;</span>&lt;&lt; std::endl;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Failed to rec item.&quot;</span>);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">int</span> curIdx=std::distance(recItemName.begin(), it);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;recItemLen[curIdx];i++)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        recValue[i+recItemStartCol[curIdx]]=dataIn(i);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    isItemDataIn[curIdx]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keywordtype">void</span> DataLogger::recItermData(<span class="keyword">const</span> std::string &amp;name, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;dataIn) {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">auto</span> it = std::find(recItemName.begin(), recItemName.end(), name);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">if</span> (it == recItemName.end()) {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        std::cout &lt;&lt; name&lt;&lt; <span class="stringliteral">&quot; has not been added!!!!!&quot;</span>&lt;&lt; std::endl;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Failed to rec item.&quot;</span>);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">int</span> curIdx=std::distance(recItemName.begin(), it);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;recItemLen[curIdx];i++)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        recValue[i+recItemStartCol[curIdx]]=dataIn[i];</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    isItemDataIn[curIdx]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;}</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keywordtype">void</span> DataLogger::finishLine() {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">auto</span> it = std::find(isItemDataIn.begin(), isItemDataIn.end(), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">if</span> (it != isItemDataIn.end()) {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        std::cout &lt;&lt; recItemName[std::distance(isItemDataIn.begin(),it)]&lt;&lt; <span class="stringliteral">&quot; has not been recorded values!!!!!&quot;</span>&lt;&lt; std::endl;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Failed to rec item.&quot;</span>);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    tmpStr = fmt::format(<span class="stringliteral">&quot;{:.6e}&quot;</span>, fmt::join(recValue, <span class="stringliteral">&quot;,&quot;</span>));</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    LOG_INFO(dl, <span class="stringliteral">&quot;{}&quot;</span>, tmpStr);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
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